Waveshare Motor Driver HAT Manuale utente

Motor Driver HAT

1/ 16

Motor Driver HAT

User Manual

OVERVIE

This module is a motor driver board for Raspberry Pi. Use I2C interface, could be used

for Robot applications.

FEATURES

⚫Compatible with Raspberry Pi

⚫I2C interface. Slave address hardware configurable makes your pi able to connect

32 motors at the same time

⚫Integrate PCA9685, supports 12bits PWM output

⚫Integrate TB6612FNG, high performance

⚫Integrate 5V regulator, output current up to 3A.

⚫Pins out I2C interface, could connect to other development board

⚫Come with sample codes and user manual

Motor Driver HAT

2/ 16

SPECIFICATIONS

Operating voltage:

6V~12V (VIN port)

Logic voltage:

3.3V

PWM controller:

PCA9685

Interface:

I2C

Motor controller:

TBA6612FNG

Dimension:

65mm x 30mm

Holes size:

3.0mm

INTERFACES

Motor Driver HAT

3/ 16

Description

3V3

3.3V

GND

Ground

SDA

I2C Data

SCL

I2C Clock

VIN

Driver voltage for motor（6-12V）

positive pole of motor A

negative pole of motor A

positive pole of motor B

negative pole of motor B

Motor Driver HAT

4/ 16

HARDWARES

The module includes three part in hardware: Power, PWM and Motor driver

POWER

MP1854 regulator is used to convert the input voltage (VIN_USER), has wide 4.5V to

28V input range, could provide 3A output. Even the chip supports 28V input, however,

VIN_USER is also the power supply for motor, so the actual working voltage of this

module is 6-12V.

MP1854 outputs stable 5V, which is used to power Raspberry Pi, and supplies 3.3V

logic level for PWM and motor driver via RT9193-33.

Motor Driver HAT

5/ 16

PWM

Raspberry Pi only has one hardware PWM pin (GPIO.1), and the software PWM of

WiringPi and Python will cost CPU resources. This module, we use PCA9685, I2C bus

controlled, support 16-channel 12-bits PWM output. The frequency range of PWM is

40Hz to 1000Hz.

It is very simply to use, to output PWM signal you only need to control corresponding

registers value of chip.

Refer the recommend circuit, LED0-LED5 are motor control pins.

From Page6 to Page8 of datasheet:

Motor Driver HAT

6/ 16

The slave address of I2C bus is 7-bits, highest is fixed 1. A5-A0 are hardware

selectable.

This Motor Driver HAT, A5 is connected to ground (0) by default, you can change

resistors of A0-A4 to configure the slave address. If you weld a resistor or short it,

means 1, otherwise 0. The address range from 0x40 to 0x5F.

For example:

1. A5 is 0, A0-A4 are disconnected (don’t weld), so they are 0 as well. The final I2C

slave address is 0x40

2. Welding 0Ωresistors to A0-A4 or shorting them, the final I2C slave address is

0x5F. You can use i2cdetect tool to detect i2C devices on Raspberry Pi as below:

execute command: i2cdetect -y 1

Motor Driver HAT

7/ 16

MOTOR DRIVER

TB6612FNG is a driver IC for DC motor with high performance.

VIN_USER is input voltage, in theory, motor speed up if this voltage is increased.

Recommend input voltage is 6~12V

PWMA and PWMB control speed of motors, AIN1 and AIN2, BIN1 and BIN2 control

rotate direction of motors.

A1 and A2, B1 and B2 are connect to positive/negative poles of two motors separately.

Motor Driver HAT

8/ 16

HOW TO USE

ENABLE I2C INTERFACE

To works with Raspberry Pi, you should first enable I2C interface as below:

sudo raspi-config

Then choose Interfacing Options -> I2C -> Yes

Motor Driver HAT

9/ 16

【Note】If you get errors information after running demo code, please modify the

modules file as below:

sudo nano /etc/mdoules

Append these statements to the end and save:

i2c-dev

i2c-bcm2708

DOWNLOAD DEMO CODE

Demo code can be downloaded from Wiki:

⚫https://www.waveshare.com/wiki/Motor_Driver_HAT

Extract on your PC and copy to Raspberry Pi

LIBRARIES INSTALLATION

Before running the demo code, you should install necessary libraries (WiringPi,

BCM2835 and python). About how to install libraries, you can refer to this page:

⚫Libraries_Installation_for_RPi

Motor Driver HAT

10 / 16

CODE ANALYSIS

We provide three demo codes for Raspberry Pi, which are based on BCM2835,

WiringPi and python libraries separately.

BCM2835

PROJECT DIRECTORY AND FILES

/bin:

.o files generated by makefile

Makefile: makefile is used to tell the compiler how to compile your project/code.

motor: executable file, which you can execute to run the code

/Obj: workspace of project

Debug.h: heard files of debug function, you can use DEBUG() to print debug

information like printf() by change USE_DEBUG to 1

Indice

Altri manuali Waveshare Unità di controllo

Waveshare

Waveshare UART GPS NEO-6M Manuale utente

Waveshare

Waveshare 10451 Manuale utente

Waveshare

Waveshare Barcode Scanner Module Manuale utente

Waveshare

Waveshare RS485 TO ETH Manuale utente

Waveshare

Waveshare WIFI-LPT100-B Manuale utente

Waveshare

Waveshare 4.2inch e-Paper Module Manuale utente

Waveshare

Waveshare UART TO ETH Manuale utente

Waveshare

Waveshare SIM7600CE-T Manuale utente

Waveshare

Waveshare SIM7000E Manuale utente

Manuali Unità di controllo popolari di altre marche

Festo

Festo Compact Performance CP-FB6-E Manuale elenco delle parti

Elo TouchSystems

Elo TouchSystems DMS-SA19P-EXTME Manuale utente

JS Automation

JS Automation MPC3034A Manuale utente

JAUDT

JAUDT SW GII 6406 Series Guida rapida

Spektrum

Spektrum Air Module System Manuale utente

BOC Edwards

BOC Edwards Q Series Manuale utente

KHADAS

KHADAS BT Magic Manuale utente

Etherma

Etherma eNEXHO-IL Manuale utente

PMFoundations

PMFoundations Attenuverter Manuale utente

GEA

GEA VARIVENT Manuale utente

Walther Systemtechnik

Walther Systemtechnik VMS-05 Manuale utente

Altronix

Altronix LINQ8PD Istruzioni per il montaggio

Eaton

Eaton Powerware Series Manuale utente

WAGO

WAGO 750-407/040-000 Manuale utente

Sony

Sony CCU-590 Manuale utente

Graco

Graco 25D614 Manuale utente

Task Force Tips

Task Force Tips YE-RF-900 Manuale di programmazione

Shini

Shini SPV-U Series Manuale utente